Stepless side formwork system for multi-size bridge deck slabs and self-adaptive control method of stepless side formwork system

Abstract

The invention discloses a non-stage-difference side mode system of a multi-size bridge deck slab and a self-adaptive control method of the non-stage-difference side mode system. The non-stage-difference side mode system comprises an electromagnetic locking bottom mode, a non-stage-difference side mode, an Internet of Things module, a data transmission module, a computer vision module, an intelligent decision-making module and an electromagnetic control module. Through electromagnetic induction matching between the electromagnetic locking bottom die and the step-free side die, traction, positioning and locking of the side die are achieved, so that bridge decks of multiple sizes are adapted in a step-free mode, and the flexibility of template adjustment, the production efficiency and the installation precision are improved; the self-adaptive control method comprises the steps of appearance judgment of the non-stage-difference side formwork, non-stage-difference in-place of the side formwork, electromagnetic locking of the side formwork, judgment and control of the concrete forming stage and dismantling of the non-stage-difference side formwork. Electromagnetic attraction force or electromagnetic repulsive force needed during traction, in-position and locking of the side die is determined through the neural network technology, and then the current direction and current intensity applied to all the electromagnetic induction coils are determined.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge structure construction, and in particular to a stepless side formwork system for multi-size bridge decks and an adaptive control method thereof. Background Art

[0002] A steel-concrete composite beam bridge deck is a structural member that combines steel and concrete to form a single, integrated structure that bears the loads of a bridge. This is typically achieved by laying concrete on the steel surface, connecting it with shear connectors to form a single unit that can collaboratively withstand various forces, including vehicle loads and deadweight. To cope with various loads and adapt to varying spans and force distributions, designs such as variable-section beams, curved beams, and special-shaped sections are often employed. This requires the bridge deck to adjust to the shape of the main beam, which in turn requires adjustments to the corresponding formwork.

[0003] Traditional bridge deck side formwork systems have the following problems when applied to multi-sized bridge decks: 1) Custom molds need to be made for different-sized bridge decks, resulting in high mold replacement costs, low production efficiency, and poor flexibility, making it difficult to achieve seamless adaptation of bridge decks; 2) Traditional side formwork adjustment methods rely on manual operation, resulting in large errors and making it difficult to meet high-precision construction requirements.

[0004] Furthermore, multi-sized bridge decks often utilize prefabrication and assembly techniques to improve component precision and construction efficiency. However, when prefabricating steel-concrete composite beam bridge decks in factories, the following issues may still arise: 1) Inadequate rust removal and polishing of the formwork can lead to contamination of the bridge deck concrete, surface unevenness, and difficulty in removing the formwork; 2) Poor formwork joints can cause concrete leakage; 3) Formwork displacement or deformation under the lateral pressure of concrete can lead to low-quality concrete casting, resulting in surface unevenness and edge collapse; 4) Improper formwork removal (either too early or too late) can cause concrete cracking.

[0005] Currently, electromagnetic control methods, such as electromagnetic locking and magnetic tensioning, are primarily used to secure the formwork for multi-size bridge decks. These methods fail to adjust the electromagnetic force based on the differences between the concrete vibration and forming stages, resulting in wasted electromagnetic energy in the later stages of concrete forming. Furthermore, assessing the formwork's surface cleanliness and smoothness, as well as its positioning and locking, still require considerable labor and time, which restricts the production quality and efficiency of multi-size bridge decks. There is an urgent need to develop a system and adaptive control method for the non-differential side formwork used in factory-fabricated multi-size bridge decks. This approach would enable real-time monitoring and control of the relevant technical parameters of factory-fabricated multi-size bridge decks, thereby improving the informatization and intelligence of factory-fabricated multi-size bridge decks. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention applies for a stepless side formwork system for multi-size bridge panels and its adaptive control method, which realizes the status monitoring and real-time control of the stepless side formwork when prefabricating multi-size bridge panels in the factory, which is conducive to improving the informatization and intelligence level of the prefabrication operation of multi-size bridge panels.

[0007] In a first aspect, the present application discloses a stepless side formwork system for multi-sized bridge decks, comprising an electromagnetic locking bottom formwork, a stepless side formwork, an Internet of Things module, a data transmission module, a computer vision module, an intelligent decision-making module, and an electromagnetic control module;

[0008] The electromagnetic locking bottom formwork includes a pouring platform layer and a first electromagnetic induction device; the pouring platform layer is a flat plate made of austenitic stainless steel and serves as the bottom formwork for concrete pouring; the first electromagnetic induction device is located below the pouring platform layer and is composed of evenly arranged electromagnetic induction coils;

[0009] The stepless side formwork includes a side formwork, an end formwork and an intermediate formwork, all of which are steel components, and comb-shaped holes are reserved on the side surfaces enclosing the concrete pouring area for the passage of steel bars; the end formwork is fixed on the electromagnetic locking bottom formwork, and has an L-shaped cross-section, and a second electromagnetic induction device is evenly arranged on the side surface away from the concrete pouring area in a direction perpendicular to the cross-section; the side formwork is placed on the electromagnetic locking bottom formwork, and has an L-shaped cross-section, and a third electromagnetic induction device is evenly arranged on the vertically upward surface in a direction perpendicular to the cross-section, and joint plates are provided at both ends perpendicular to the cross-section and tightly fit with the end formwork, and a fourth electromagnetic induction device is provided on the side of the joint plate away from the end formwork; the second electromagnetic induction device, the third electromagnetic induction device and the fourth electromagnetic induction device are all composed of electromagnetic induction coils; the intermediate formwork is fixed on the electromagnetic locking bottom formwork, and has a U-shaped cross-section;

[0010] generating an electromagnetic repulsive force or an electromagnetic attractive force between the first electromagnetic induction device and the third electromagnetic induction device, and generating an electromagnetic repulsive force or an electromagnetic attractive force between the second electromagnetic induction device and the fourth electromagnetic induction device, according to the direction and current intensity of the current applied to the electromagnetic induction coil;

[0011] The Internet of Things module includes an optical camera sensor, a joint displacement sensor, a side form displacement sensor, a pressure sensor, and a concrete conductivity sensor; the optical camera sensor is mounted on the casting equipment and is used to obtain high-precision image data of the side surface of the concrete casting area enclosed by the non-step-difference side form; the joint displacement sensor is installed on the joint between the side form and the end form, and is used to obtain joint displacement data; the side form displacement sensor is installed on the side form, and is used to obtain the overall displacement data of the side form in the lateral direction; the pressure sensor is installed on the side surface of the concrete casting area enclosed by the side form, and is used to obtain the lateral compressive stress data applied by the concrete on the side form; the concrete conductivity sensor is installed on the upper surface of the electromagnetic locking bottom form, and is used to obtain the concrete conductivity data;

[0012] The data transmission module is used to establish remote connection and transmission of information between modules, and to send alarm information to technicians;

[0013] The computer vision module uses convolutional neural network model technology to identify image features of high-precision image data acquired by the optical camera sensor, wherein the image features include contaminants and their areas, and defects and their areas on the surface of the non-step-difference side mold;

[0014] The intelligent decision-making module adopts neural network model technology, and its input parameters include design data of multi-sized bridge decks, data obtained in real time by the Internet of Things module, and image features recognized by the computer vision module. The output parameters include the concrete forming stage, the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device. The concrete forming stage includes the initial pouring period, the setting period, the late hardening period, and the demolding period. The control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device are all the current direction and current intensity applied to each electromagnetic induction coil.

[0015] The electromagnetic control module is used to control the current direction and current intensity applied to each electromagnetic induction coil of the first electromagnetic induction device, the second electromagnetic induction device, the third electromagnetic induction device and the fourth electromagnetic induction device in real time according to the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device and the control amount of the fourth electromagnetic induction device.

[0016] A second aspect of the present application discloses an adaptive method for a non-step-difference side formwork system for multi-sized bridge decks, comprising the following steps:

[0017] S1. Appearance judgment of the non-step-difference side mold: high-precision image data of the side surface of the non-step-difference side mold is obtained by an optical camera sensor, and image features are identified by a computer vision module, and then the cleanliness and flatness of the surface of the non-step-difference side mold are calculated; the cleanliness I c and flatness I e Satisfies the following expression:

[0018]

[0019] Among them, A0 is the area of ​​the side mold surface without step difference, A p is the contaminated area of ​​the side mold surface without step difference, A d is the defect area of ​​the non-step-difference side mold surface, [I c ] is the cleanliness threshold, [I e ] is the flatness threshold; when the cleanliness or flatness does not meet the threshold requirements, an alarm message is issued through the data transmission module;

[0020] S2. Continuous positioning of the side formwork: The position of the side formwork on the electromagnetically locked bottom formwork is determined based on the design data of the multi-sized bridge deck. The design data of the multi-sized bridge deck is then input into the intelligent decision-making module, which outputs the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device. The electromagnetic control module then controls the direction and intensity of the current applied to each electromagnetic induction coil. The side formwork is pulled and positioned by generating an electromagnetic attraction between the second electromagnetic induction device and the fourth electromagnetic induction device. The frictional resistance of the side formwork during pulling is reduced by generating an electromagnetic repulsion between the first electromagnetic induction device and the third electromagnetic induction device.

[0021] S3. Electromagnetic locking of the side formwork: After the side formwork is in place, the side formwork is fixed by electromagnetic attraction to resist the load on the side formwork during concrete vibration. The current I1 applied to the first electromagnetic induction device, the current I2 applied to the second electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device satisfy the following expression:

[0022]

[0023] Wherein, μ0 is the vacuum magnetic permeability, H / m; N1 is the number of turns of the coil of the first electromagnetic induction device; N2 is the number of turns of the coil of the second electromagnetic induction device; N3 is the number of turns of the coil of the third electromagnetic induction device; N4 is the number of turns of the coil of the fourth electromagnetic induction device; A e13 is the effective magnetic pole area of ​​the overlapping region of the coil magnetic poles of the first electromagnetic induction device and the third electromagnetic induction device, m 2 ; A e24is the effective magnetic pole area of ​​the overlapping region of the coil magnetic poles of the second electromagnetic induction device and the fourth electromagnetic induction device, m 2 ;d 13 is the gap distance between the first electromagnetic induction device and the third electromagnetic induction device, m; d 24 is the gap distance between the second electromagnetic induction device and the fourth electromagnetic induction device, m; k 13 k is the static friction coefficient between the side mold and the electromagnetic locking bottom mold; 24 k is the static friction coefficient between the side mold and the end mold; s1 is the safety factor; k c1 is the concrete lateral pressure coefficient considering the influence of vibration; γ is the concrete density, N / m 3 ; h is the height of concrete, m; b is the width of the concrete side pressure acting on the side form, m;

[0024] S4. Judgment and control of the concrete forming stage: During the concrete forming stage, the Internet of Things module obtains the joint displacement data between the side form and the end form, the overall displacement data of the side form in the lateral direction, the lateral compressive stress data applied by the concrete on the side form, and the concrete conductivity data. After inputting these data into the intelligent decision-making module, the concrete forming stage, the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device are predicted. Then, the electromagnetic control module controls the direction and current intensity of the current applied to each electromagnetic induction coil; the current I1 applied to the first electromagnetic induction device, the current I2 applied to the first electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device satisfy the following expression:

[0025]

[0026] Among them, k c2 is the concrete lateral pressure coefficient without considering the effect of vibration; σ c is the measured lateral compressive stress of concrete on the side form, kPa; k s2 is the safety factor based on the concrete forming stage and satisfies the following expression:

[0027]

[0028] When the measured joint displacement and overall side form displacement exceed the limit, an alarm message will be issued through the data transmission module;

[0029] S5. Removal of the non-step differential side formwork: When the concrete forming stage obtained by the intelligent decision-making module is the formwork removal period, the electromagnetic control module adjusts the current I1 applied to the first electromagnetic induction device, the current I2 applied to the first electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device to 0, thereby releasing the electromagnetic locking of the side formwork, and issues an alarm message through the data transmission module to remind the technicians to remove the non-step differential side formwork in time.

[0030] Compared with the prior art, the beneficial effects of the present invention are: for the status monitoring and real-time control of the stepless side formwork used in the factory prefabrication of multi-sized bridge panels, a stepless side formwork system for multi-sized bridge panels and its adaptive control method are proposed, the stepless side formwork system includes an electromagnetic locking bottom formwork, a stepless side formwork, an Internet of Things module, a data transmission module, a computer vision module, an intelligent decision-making module and an electromagnetic control module; through the electromagnetic induction cooperation between the electromagnetic locking bottom formwork and the stepless side formwork, the traction, positioning and locking of the side formwork are realized, thereby adapting to multi-sized bridge panels without step difference, and improving the flexibility of template adjustment, production efficiency and installation accuracy; the apparent condition, joint displacement, overall displacement and force of the stepless side formwork are monitored through the Internet of Things module, and the template is timely informed. The possible surface unevenness and contamination, displacement or deformation under the lateral pressure of concrete, and the use of computer vision technology and neural network technology to assist decision-making provide a solid and reliable basis for the electromagnetic control of the formwork; the adaptive control method includes the apparent judgment of the stepless side formwork, the stepless positioning of the side formwork, the electromagnetic locking of the side formwork, the judgment and control of the concrete forming stage and the removal of the stepless side formwork; the electromagnetic attraction or electromagnetic repulsion required for the traction, positioning and locking of the side formwork is determined through neural network technology, and then the current direction and current intensity applied to each electromagnetic induction coil are determined; the concrete forming stage is judged according to the concrete conductivity, and the electromagnetic force is adjusted according to the concrete lateral pressure to avoid waste of electromagnetic energy and accurately judge the time of formwork removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the cross-sectional structure of the electromagnetic locking bottom mold and the non-step-difference side mold shown in an embodiment of the present invention;

[0032] Figure 2 Schematic diagram of the cross-sectional structure of the electromagnetic locking bottom mold and the non-step-difference side mold shown in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the axonometric structure of a non-step-difference side mold according to an embodiment of the present invention;

[0034] Figure 4 This is a module diagram of a non-step-difference side formwork system for multi-sized bridge decks according to an embodiment of the present invention;

[0035] Figure 5 This is a flow chart of the adaptive control method of the stepless side form system for multi-size bridge decks of the present invention;

[0036] Figure numerals: 1-electromagnetic locking bottom formwork, 11-casting platform layer, 12-first electromagnetic induction device, 21-side formwork, 211-third electromagnetic induction device, 212-connector plate, 213-fourth electromagnetic induction device, 22-end formwork, 221-second electromagnetic induction device, 23-intermediate formwork, 3-Internet of Things module, 31-optical camera sensor, 32-joint displacement sensor, 33-side formwork displacement sensor, 34-pressure sensor, 35-concrete conductivity sensor, 4-data transmission module, 5-computer vision module, 6-intelligent decision-making module, 7-electromagnetic control module. DETAILED DESCRIPTION

[0037] The following is a more detailed description of the embodiments of the present invention with reference to the accompanying drawings and reference numerals, so that those skilled in the art can implement the invention after studying this specification. It should be understood that the specific embodiments described herein are only used to illustrate the invention and are not intended to limit the invention.

[0038] The first aspect of this application discloses Figure 1-4 The non-step-difference side formwork system for multi-sized bridge decks shown includes an electromagnetic locking bottom formwork 1, a non-step-difference side formwork 2, an Internet of Things module 3, a data transmission module 4, a computer vision module 5, an intelligent decision-making module 6, and an electromagnetic control module 7;

[0039] The electromagnetic locking bottom formwork 1 includes a pouring platform layer 11 and a first electromagnetic induction device 12; the pouring platform layer 11 is a flat plate made of austenitic stainless steel and serves as the bottom formwork for concrete pouring; the first electromagnetic induction device 12 is located below the pouring platform layer 11 and is composed of evenly arranged electromagnetic induction coils;

[0040] The non-step-difference side formwork includes a side formwork 21, an end formwork 22 and an intermediate formwork 23, all of which are steel components, and each of which has comb-shaped holes reserved on the side surface of the concrete pouring area for the passage of steel bars; the end formwork 22 is fixed on the electromagnetic locking bottom formwork 1, and has an L-shaped cross-section, and a second electromagnetic induction device 221 is evenly arranged on the side surface away from the concrete pouring area in a direction perpendicular to the cross-section; the side formwork 21 is placed on the electromagnetic locking bottom formwork 1, and has an L-shaped cross-section, and is vertically upward. The third electromagnetic induction device 211 is evenly arranged along the surface perpendicular to the cross-sectional direction. Joint plates 212 are provided at both ends perpendicular to the cross-sectional direction and are tightly fitted with the end mold. A fourth electromagnetic induction device 213 is provided on the side of the joint plate 212 facing away from the end mold 22. The second electromagnetic induction device 221, the third electromagnetic induction device 211, and the fourth electromagnetic induction device 213 are all composed of electromagnetic induction coils. The intermediate mold 23 is fixed on the electromagnetic locking bottom mold 1 and has a U-shaped cross-sectional shape.

[0041] According to the direction and current intensity of the current applied to the electromagnetic induction coil, an electromagnetic repulsive force or an electromagnetic attractive force is generated between the first electromagnetic induction device 12 and the third electromagnetic induction device 211, and an electromagnetic repulsive force or an electromagnetic attractive force is generated between the second electromagnetic induction device 221 and the fourth electromagnetic induction device 213;

[0042] The Internet of Things module 3 includes an optical camera sensor 31, a joint displacement sensor 32, a side form displacement sensor 33, a pressure sensor 34, and a concrete conductivity sensor 35; the optical camera sensor 31 is mounted on the casting equipment and is used to obtain high-precision image data of the side surface of the concrete casting area enclosed by the stepless side form 2; the joint displacement sensor 32 is installed on the joint between the side form 21 and the end form 22 to obtain joint displacement data; the side form displacement sensor 33 is installed on the side form 21 to obtain the overall displacement data of the side form 21 in the lateral direction; the pressure sensor 34 is installed on the side surface of the concrete casting area enclosed by the side form 21 to obtain the lateral compressive stress data applied by the concrete to the side form 21; the concrete conductivity sensor 35 is installed on the upper surface of the electromagnetic locking bottom form 1 to obtain concrete conductivity data;

[0043] The data transmission module 4 is used to establish a remote connection and transmission of information between modules, and to send alarm information to technicians;

[0044] The computer vision module 5 uses convolutional neural network model technology to identify image features of the high-precision image data acquired by the optical camera sensor 31, wherein the image features include contaminants and their areas, and defects and their areas on the surface of the non-step-difference side mold;

[0045] The intelligent decision-making module 6 adopts neural network model technology, and its input parameters include the design data of multi-sized bridge decks, the data acquired in real time by the Internet of Things module 3, and the image features recognized by the computer vision module 5. The output parameters include the concrete forming stage, the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device. The concrete forming stage includes the initial pouring period, the setting period, the late hardening period, and the demolding period. The control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device are all the current direction and current intensity applied to each electromagnetic induction coil.

[0046] The electromagnetic control module 7 is used to control the current direction and current intensity applied to each electromagnetic induction coil of the first electromagnetic induction device 12, the second electromagnetic induction device 221, the third electromagnetic induction device 211 and the fourth electromagnetic induction device 213 in real time according to the first electromagnetic induction device control amount, the second electromagnetic induction device control amount, the third electromagnetic induction device control amount and the fourth electromagnetic induction device control amount.

[0047] The second aspect of this application discloses Figure 5 The adaptive method for the non-step-difference side formwork system for multi-sized bridge decks shown includes the following steps:

[0048] S1, the appearance judgment of the non-step-difference side mold: the optical camera sensor 31 is used to obtain high-precision image data of the side surface of the non-step-difference side mold, and the image features are recognized by the computer vision module 5, and then the cleanliness and flatness of the surface of the non-step-difference side mold 2 are calculated; the cleanliness I c and flatness I e Satisfies the following expression:

[0049]

[0050] Among them, A0 is the area of ​​the side mold surface without step difference, A p is the contaminated area of ​​the side mold surface without step difference, A d is the defect area of ​​the non-step-difference side mold surface, [I c ] is the cleanliness threshold, [I e ] is the flatness threshold; when the cleanliness or flatness does not meet the threshold requirements, an alarm message is issued through the data transmission module;

[0051] In the specific implementation, the area A0 of the side mold surface is 0.9m 2 , the contaminated area A on the side mold surface p 0.01m 2 , the defect area A on the side mold surface d 0.012m2 , cleanliness threshold [I c ] is 99%, the flatness threshold [I e ] is 99%, the cleanliness of the side mold surface is I c and flatness I e The calculation according to formula (1) is as follows:

[0052]

[0053] Cleanliness of side mold surface I c and flatness I e If the threshold requirement is not met, an alarm message is sent to the technician via the data transmission module 4, and the contamination and defects on the side mold surface are processed until the threshold requirement is met;

[0054] S2. Stepless positioning of the side formwork: The position of the side formwork 21 on the electromagnetic locking bottom formwork 1 is determined based on the design data of the multi-sized bridge deck, and the design data of the multi-sized bridge deck is then input into the intelligent decision-making module 6, which outputs the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device. The electromagnetic control module 7 then controls the direction and current intensity of the current applied to each electromagnetic induction coil; wherein, the side formwork 21 is pulled and positioned by generating an electromagnetic attraction between the second electromagnetic induction device 221 and the fourth electromagnetic induction device 213; and the friction resistance of the side formwork when being pulled is reduced by generating an electromagnetic repulsion between the first electromagnetic induction device 12 and the third electromagnetic induction device 211.

[0055] S3. Electromagnetic locking of the side formwork: After the side formwork 21 is in place, the side formwork 21 is fixed by electromagnetic attraction, thereby resisting the load on the side formwork during concrete vibration. The current I1 applied to the first electromagnetic induction device 12, the current I2 applied to the second electromagnetic induction device 221, the current I3 applied to the third electromagnetic induction device 211, and the current I4 applied to the fourth electromagnetic induction device 213 satisfy the following expression:

[0056]

[0057] Wherein, μ0 is the vacuum magnetic permeability, H / m; N1 is the number of turns of the coil of the first electromagnetic induction device; N2 is the number of turns of the coil of the second electromagnetic induction device; N3 is the number of turns of the coil of the third electromagnetic induction device; N4 is the number of turns of the coil of the fourth electromagnetic induction device; A e13 is the effective magnetic pole area of ​​the overlapping region of the coil magnetic poles of the first electromagnetic induction device and the third electromagnetic induction device, m 2 ; A e24 is the effective magnetic pole area of ​​the overlapping region of the coil magnetic poles of the second electromagnetic induction device and the fourth electromagnetic induction device, m2 ;d 13 is the gap distance between the first electromagnetic induction device and the third electromagnetic induction device, m; d 24 is the gap distance between the second electromagnetic induction device and the fourth electromagnetic induction device, m; k 13 k is the static friction coefficient between the side mold and the electromagnetic locking bottom mold; 24 k is the static friction coefficient between the side mold and the end mold; s1 is the safety factor; k c1 is the concrete lateral pressure coefficient considering the influence of vibration; γ is the concrete density, N / m 3 ; h is the height of concrete, m; b is the width of the concrete side pressure acting on the side form, m;

[0058] In the specific implementation, the vacuum magnetic permeability μ0 is 1.26×10 -6 H / m, the number of turns N1 of the coil of the first electromagnetic induction device, the number of turns N2 of the coil of the second electromagnetic induction device, the number of turns N3 of the coil of the third electromagnetic induction device, and the number of turns N4 of the coil of the fourth electromagnetic induction device are all 500 turns, and the effective magnetic pole area A of the region where the magnetic poles of the coils of the first electromagnetic induction device and the third electromagnetic induction device overlap e13 , the effective magnetic pole area A of the region where the magnetic poles of the coils of the second electromagnetic induction device and the fourth electromagnetic induction device overlap e24 Both are 0.2826m 2 , the gap distance d between the first electromagnetic induction device and the third electromagnetic induction device 13 , the gap distance d between the second electromagnetic induction device and the fourth electromagnetic induction device 24 The static friction coefficient k between the side mold and the electromagnetic locking bottom mold is 0.1m. 13 , the static friction coefficient k between the side mold and the end mold 24 Both are 0.3, safety factor k s1 The concrete lateral pressure coefficient k is 1.6, considering the influence of vibration c1 is 1.2, and the concrete density γ is 25000N / m 3 , the concrete height h is 0.25m, the width b of the concrete side pressure acting on the side form is 3m; there are 4 sets of electromagnetic induction coils corresponding to each other between the first electromagnetic induction device and the third electromagnetic induction device, and there are 2 sets of electromagnetic induction coils corresponding to each other between the second electromagnetic induction device and the fourth electromagnetic induction device; when the current I1 applied to the first electromagnetic induction device is 20A, the current I2 applied to the second electromagnetic induction device is 7A, the current I3 applied to the third electromagnetic induction device is 20A, and the current I4 applied to the fourth electromagnetic induction device is 7A, the calculation according to formula (3) is as follows:

[0059]

[0060] Among them, F 13 F is the frictional resistance between the side mold and the electromagnetic locking bottom mold, 24 is the frictional resistance between the side mold and the end mold, F c is the lateral pressure of concrete; from formula (4), it can be seen that it meets the requirements of formula (3);

[0061] S4. Judgment and control of the concrete forming stage: During the concrete forming stage, the joint displacement data between the side form and the end form, the overall displacement data of the side form in the lateral direction, the lateral compressive stress data applied by the concrete on the side form, and the concrete conductivity data are obtained through the Internet of Things module 3. After input into the intelligent decision-making module 6, the concrete forming stage, the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device are predicted. Then, the electromagnetic control module controls the direction and current intensity of the current applied to each electromagnetic induction coil; the current I1 applied to the first electromagnetic induction device, the current I2 applied to the first electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device satisfy the following expression:

[0062]

[0063] Among them, k c2 is the concrete lateral pressure coefficient without considering the effect of vibration; σ c is the measured lateral compressive stress of concrete on the side form, kPa; k s2 is the safety factor based on the concrete forming stage and satisfies the following expression:

[0064]

[0065] When the measured joint displacement and overall side form displacement exceed the limit, an alarm message is issued through the data transmission module 4;

[0066] S5. Removal of the non-step differential side formwork: When the concrete forming stage obtained by the intelligent decision-making module 6 is the formwork removal period, the electromagnetic control module 7 adjusts the current I1 applied to the first electromagnetic induction device, the current I2 applied to the first electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device to 0, thereby releasing the electromagnetic locking of the side formwork, and issues an alarm message through the data transmission module 4 to remind the technicians to remove the non-step differential side formwork in time.

[0067] In a specific implementation, in step S1, for the appearance judgment of the non-step-difference side form, the image features recognized by the computer vision module also include the damage or deformation of the anti-leakage slurry strip at the bottom of the non-step-difference side form, the size of the concrete pouring area enclosed by the non-step-difference side form, the height difference between any adjacent non-step-difference side form and the thickness of the reinforced concrete protective layer; wherein the allowable deviation of the size of the concrete pouring area enclosed by the non-step-difference side form includes: the cross-sectional top width is [-20mm, +20mm], the cross-sectional bottom width is [-10mm, +10mm], the cross-sectional height is [- 5mm, 0mm], and the longitudinal length along the bridge deck is [-10mm, +5mm]; the allowable deviation of the height difference between any adjacent non-step-difference side formwork is [-2mm, +2mm]; the allowable deviation of the thickness of the reinforced concrete protective layer is [-5mm, +5mm]; when the anti-leakage slurry strip at the bottom of the non-step-difference side formwork is damaged or deformed, and when the size of the concrete pouring area enclosed by the non-step-difference side formwork, the height difference between any adjacent non-step-difference side formwork and the thickness of the reinforced concrete protective layer exceed the allowable deviation, an alarm message is issued through the data transmission module 4.

[0068] In specific implementation, this application relies on a project with as many as 96 types of steel-concrete composite beam bridge deck sizes. The formwork size is 4m×6m, which meets the production requirements of multi-size bridge decks with a structural dimension of no more than 3.8m in the length direction. Multi-size bridge decks exceeding this specification are constructed using fixed formwork. The production form uses an automated mobile formwork, and the formwork is transported between multiple roller conveyor lines using an automated shuttle bus to achieve seamless flow of formwork between various workstations and seamless connection of work processes. When installing the non-stepped side formwork, yellow paint is used to mark the four corners of the non-stepped side formwork to assist in positioning and ensure accurate formwork installation. Plastic sheets are used to cover the wet joints of the bridge deck in the middle formwork to prevent concrete from falling into the wet joints of the bridge deck. The non-stepped side formwork system for multi-size bridge decks uses modular component dimensions and interface parameters to form a reusable component system for industrial production, which is suitable for the standardization and large-scale production of multi-size bridge decks. Through the deep integration of standardized modules, automated equipment and intelligent control, the large-scale production target of 20 pieces per day is achieved, while meeting the stringent requirements of bridge engineering for component accuracy and durability.

[0069] It can be seen that through the electromagnetic induction cooperation between the electromagnetic locking bottom formwork and the stepless side formwork, the traction, positioning and locking of the side formwork can be achieved, so as to adapt to multiple sizes of bridge panels without step differences and improve the flexibility of formwork adjustment, production efficiency and installation accuracy; the surface condition, joint displacement, overall displacement and force of the stepless side formwork are monitored through the Internet of Things module, so as to timely obtain the possible surface unevenness and contamination of the formwork, and the displacement or deformation under the lateral pressure of concrete, and use computer vision technology and neural network technology to assist decision-making, providing a solid and reliable basis for the electromagnetic control of the formwork; the electromagnetic attraction or electromagnetic repulsion required for traction, positioning and locking of the side formwork is determined through neural network technology, and then the current direction and current intensity applied to each electromagnetic induction coil are determined; the concrete forming stage is judged according to the concrete conductivity, and the electromagnetic force is adjusted according to the concrete side pressure to avoid waste of electromagnetic energy and accurately judge the time to remove the formwork.

[0070] The above is a description of one or more embodiments of the present invention, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A non-step-difference side formwork system for multi-size bridge decks, characterized in that: It includes electromagnetic locking bottom mold, stepless side mold, Internet of Things module, data transmission module, computer vision module, intelligent decision-making module and electromagnetic control module; The electromagnetic locking bottom formwork includes a pouring platform layer and a first electromagnetic induction device; the pouring platform layer is a flat plate made of austenitic stainless steel and serves as the bottom formwork for concrete pouring; the first electromagnetic induction device is located below the pouring platform layer and is composed of evenly arranged electromagnetic induction coils; The stepless side formwork includes a side formwork, an end formwork and an intermediate formwork, all of which are steel components, and comb-shaped holes are reserved on the side surfaces enclosing the concrete pouring area for the passage of steel bars; the end formwork is fixed on the electromagnetic locking bottom formwork, and has an L-shaped cross-section, and a second electromagnetic induction device is evenly arranged on the side surface away from the concrete pouring area in a direction perpendicular to the cross-section; the side formwork is placed on the electromagnetic locking bottom formwork, and has an L-shaped cross-section, and a third electromagnetic induction device is evenly arranged on the vertically upward surface in a direction perpendicular to the cross-section, and joint plates are provided at both ends perpendicular to the cross-section and tightly fit with the end formwork, and a fourth electromagnetic induction device is provided on the side of the joint plate away from the end formwork; the second electromagnetic induction device, the third electromagnetic induction device and the fourth electromagnetic induction device are all composed of electromagnetic induction coils; the intermediate formwork is fixed on the electromagnetic locking bottom formwork, and has a U-shaped cross-section; According to the direction and intensity of the current applied to the electromagnetic induction coil, electromagnetic repulsion or electromagnetic attraction is generated between the first electromagnetic induction device and the third electromagnetic induction device, and electromagnetic repulsion or electromagnetic attraction is generated between the second electromagnetic induction device and the fourth electromagnetic induction device.

2. The non-step-difference side formwork system for multi-size bridge decks according to claim 1, characterized in that: The Internet of Things module includes an optical camera sensor, a joint displacement sensor, a side form displacement sensor, a pressure sensor, and a concrete conductivity sensor; the optical camera sensor is mounted on the casting equipment to obtain high-precision image data of the side surface of the concrete casting area enclosed by the stepless side form; the joint displacement sensor is installed on the joint between the side form and the end form to obtain joint displacement data; the side form displacement sensor is installed on the side form to obtain the overall displacement data of the side form in the transverse direction; the pressure sensor is installed on the side surface of the concrete casting area enclosed by the side form to obtain the lateral compressive stress data applied by the concrete on the side form; the concrete conductivity sensor is installed on the upper surface of the electromagnetic locking bottom form to obtain concrete conductivity data.

3. The non-step-difference side form system for multi-size bridge decks according to any one of claims 1-2, characterized in that: The data transmission module is used to establish a remote connection and transmission of information between modules, and to send alarm information to technicians.

4. The non-step-difference side formwork system for multi-size bridge decks according to any one of claims 1 to 3, characterized in that: The computer vision module uses convolutional neural network model technology to identify image features of high-precision image data acquired by the optical camera sensor, and the image features include pollutants and their areas, defects and their areas on the surface of the stepless side mold.

5. The non-step-difference side form system for multi-size bridge decks according to any one of claims 1 to 4, characterized in that: The intelligent decision-making module adopts neural network model technology, and its input parameters include design data of multi-sized bridge decks, data acquired in real time by the Internet of Things module, and image features recognized by the computer vision module. The output parameters include the concrete forming stage, the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device; the concrete forming stage includes the initial pouring period, the setting period, the late hardening period, and the demolding period; the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device are all the current direction and current intensity applied to each electromagnetic induction coil.

6. The non-step-difference side form system for multi-size bridge decks according to any one of claims 1 to 5, characterized in that: The electromagnetic control module is used to control the current direction and current intensity applied to each electromagnetic induction coil of the first electromagnetic induction device, the second electromagnetic induction device, the third electromagnetic induction device and the fourth electromagnetic induction device in real time according to the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device and the control amount of the fourth electromagnetic induction device.

7. An adaptive method for a non-step-difference side formwork system for multi-size bridge decks, characterized in that: The stepless side formwork system for multi-sized bridge decks according to any one of claims 1 to 6 comprises the following steps: S1. Appearance judgment of the non-step-difference side mold: high-precision image data of the side surface of the non-step-difference side mold is obtained by an optical camera sensor, and image features are identified by a computer vision module, and then the cleanliness and flatness of the surface of the non-step-difference side mold are calculated; the cleanliness I c and flatness I e Satisfies the following expression: Among them, A0 is the area of ​​the side mold surface without step difference, A p is the contaminated area of ​​the side mold surface without step difference, A d is the defect area of ​​the non-step-difference side mold surface, [I c ] is the cleanliness threshold, [I e ] is the flatness threshold; when the cleanliness or flatness does not meet the threshold requirements, an alarm message is issued through the data transmission module; S2. Continuous positioning of the side formwork: The position of the side formwork on the electromagnetically locked bottom formwork is determined based on the design data of the multi-sized bridge deck. The design data of the multi-sized bridge deck is then input into the intelligent decision-making module, which outputs the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device. The electromagnetic control module then controls the direction and intensity of the current applied to each electromagnetic induction coil. The side formwork is pulled and positioned by generating an electromagnetic attraction between the second electromagnetic induction device and the fourth electromagnetic induction device. The frictional resistance of the side formwork during pulling is reduced by generating an electromagnetic repulsion between the first electromagnetic induction device and the third electromagnetic induction device. S3. Electromagnetic locking of the side formwork: After the side formwork is in place, the side formwork is fixed by electromagnetic attraction to resist the load on the side formwork during concrete vibration. The current I1 applied to the first electromagnetic induction device, the current I2 applied to the second electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device satisfy the following expression: Wherein, μ0 is the vacuum magnetic permeability, H / m; N1 is the number of turns of the coil of the first electromagnetic induction device; N2 is the number of turns of the coil of the second electromagnetic induction device; N3 is the number of turns of the coil of the third electromagnetic induction device; N4 is the number of turns of the coil of the fourth electromagnetic induction device; A e13 is the effective magnetic pole area of ​​the overlapping region of the coil magnetic poles of the first electromagnetic induction device and the third electromagnetic induction device, m 2 ; A e24 is the effective magnetic pole area of ​​the overlapping region of the coil magnetic poles of the second electromagnetic induction device and the fourth electromagnetic induction device, m 2 ;d 13 is the gap distance between the first electromagnetic induction device and the third electromagnetic induction device, m; d 24 is the gap distance between the second electromagnetic induction device and the fourth electromagnetic induction device, m; k 13 k is the static friction coefficient between the side mold and the electromagnetic locking bottom mold; 24 k is the static friction coefficient between the side mold and the end mold; s1 is the safety factor; k c1 is the concrete lateral pressure coefficient considering the influence of vibration; γ is the concrete density, N / m 3 ; h is the height of concrete, m; b is the width of the concrete side pressure acting on the side form, m; S4. Judgment and control of the concrete forming stage: During the concrete forming stage, the Internet of Things module obtains the joint displacement data between the side form and the end form, the overall displacement data of the side form in the lateral direction, the lateral compressive stress data applied by the concrete on the side form, and the concrete conductivity data. After inputting these data into the intelligent decision-making module, the concrete forming stage, the control amount of the first electromagnetic induction device, the control amount of the second electromagnetic induction device, the control amount of the third electromagnetic induction device, and the control amount of the fourth electromagnetic induction device are predicted. Then, the electromagnetic control module controls the direction and current intensity of the current applied to each electromagnetic induction coil; the current I1 applied to the first electromagnetic induction device, the current I2 applied to the first electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device satisfy the following expression: Among them, k c2 is the concrete lateral pressure coefficient without considering the effect of vibration; σ c is the measured lateral compressive stress of concrete on the side form, kPa; k s2 is the safety factor based on the concrete forming stage and satisfies the following expression: When the measured joint displacement and overall side form displacement exceed the limit, an alarm message will be issued through the data transmission module; S5. Removal of the non-step differential side formwork: When the concrete forming stage obtained by the intelligent decision-making module is the formwork removal period, the electromagnetic control module adjusts the current I1 applied to the first electromagnetic induction device, the current I2 applied to the first electromagnetic induction device, the current I3 applied to the third electromagnetic induction device, and the current I4 applied to the fourth electromagnetic induction device to 0, thereby releasing the electromagnetic locking of the side formwork, and issues an alarm message through the data transmission module to remind the technicians to remove the non-step differential side formwork in time.

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